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Updated ament_index_cpp API #5822

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4de576c
Updated ament_index_cpp API
ahcorde Dec 26, 2025
af5a35e
make linters happy
ahcorde Dec 26, 2025
e0c0c52
make linters happy
ahcorde Dec 26, 2025
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9 changes: 5 additions & 4 deletions nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
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Expand Up @@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <filesystem>
#include <vector>
#include <string>
#include <set>
Expand Down Expand Up @@ -60,13 +61,13 @@ NavigateThroughPosesNavigator::getDefaultBTFilepath(
nav2::LifecycleNode::WeakPtr parent_node)
{
auto node = parent_node.lock();
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
std::filesystem::path pkg_share_dir;
ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);

auto default_bt_xml_filename = node->declare_or_get_parameter(
"default_nav_through_poses_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml");
(pkg_share_dir / "behavior_trees" /
"navigate_through_poses_w_replanning_and_recovery.xml").string());

return default_bt_xml_filename;
}
Expand Down
9 changes: 5 additions & 4 deletions nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
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Expand Up @@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <filesystem>
#include <vector>
#include <string>
#include <memory>
Expand Down Expand Up @@ -62,13 +63,13 @@ NavigateToPoseNavigator::getDefaultBTFilepath(
nav2::LifecycleNode::WeakPtr parent_node)
{
auto node = parent_node.lock();
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
std::filesystem::path pkg_share_dir;
ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);

auto default_bt_xml_filename = node->declare_or_get_parameter(
"default_nav_to_pose_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml");
(pkg_share_dir /
"behavior_trees " / "navigate_to_pose_w_replanning_and_recovery.xml").string());

return default_bt_xml_filename;
}
Expand Down
9 changes: 7 additions & 2 deletions nav2_core/include/nav2_core/behavior_tree_navigator.hpp
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Expand Up @@ -15,11 +15,13 @@
#ifndef NAV2_CORE__BEHAVIOR_TREE_NAVIGATOR_HPP_
#define NAV2_CORE__BEHAVIOR_TREE_NAVIGATOR_HPP_

#include <filesystem>
#include <memory>
#include <string>
#include <vector>
#include <mutex>

#include "ament_index_cpp/get_package_share_directory.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "tf2_ros/buffer.hpp"
#include "rclcpp/rclcpp.hpp"
Expand Down Expand Up @@ -201,10 +203,13 @@ class BehaviorTreeNavigator : public NavigatorBase
// get the default behavior tree for this navigator
std::string default_bt_xml_filename = getDefaultBTFilepath(parent_node);

std::filesystem::path file_path;
ament_index_cpp::get_package_share_directory("nav2_bt_navigator", file_path);
file_path /= "behavior_trees";

auto search_directories = node->declare_or_get_parameter(
"bt_search_directories",
std::vector<std::string>{ament_index_cpp::get_package_share_directory(
"nav2_bt_navigator") + "/behavior_trees"}
std::vector<std::string>{file_path.string()}
);

// Create the Behavior Tree Action Server for this navigator
Expand Down
1 change: 0 additions & 1 deletion nav2_docking/opennav_docking/test/test_controller.cpp
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Expand Up @@ -22,7 +22,6 @@
#include "nav2_util/geometry_utils.hpp"
#include "nav2_ros_common/node_utils.hpp"
#include "tf2_ros/buffer.hpp"
#include "ament_index_cpp/get_package_share_directory.hpp"

// Testing the controller at high level; the nav2_graceful_controller
// Where the control law derives has over 98% test coverage
Expand Down
24 changes: 16 additions & 8 deletions nav2_docking/opennav_docking/test/test_dock_database.cpp
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Expand Up @@ -13,6 +13,7 @@
// limitations under the License.

#include <chrono>
#include <filesystem>
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "opennav_docking/dock_database.hpp"
Expand Down Expand Up @@ -100,12 +101,14 @@ TEST(DatabaseTests, getDockInstancesBadConversionFile)
"dockv1.plugin",
rclcpp::ParameterValue("opennav_docking::SimpleChargingDock"));

std::filesystem::path file_path;
ament_index_cpp::get_package_share_directory("opennav_docking", file_path);

// Set a valid path with a malformed file
node->declare_parameter(
"dock_database",
rclcpp::ParameterValue(
ament_index_cpp::get_package_share_directory("opennav_docking") +
"/dock_files/test_dock_bad_conversion_file.yaml"));
(file_path / "dock_files" / "test_dock_bad_conversion_file.yaml").string()));

opennav_docking::DockDatabase db;
db.initialize(node, nullptr);
Expand Down Expand Up @@ -149,8 +152,10 @@ TEST(DatabaseTests, reloadDbService)
node->create_client<nav2_msgs::srv::ReloadDockDatabase>("test/reload_database");

auto request = std::make_shared<nav2_msgs::srv::ReloadDockDatabase::Request>();
request->filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
"/dock_files/test_dock_file.yaml";
std::filesystem::path filepath;
ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
filepath = filepath / "dock_files" / "test_dock_file.yaml";
request->filepath = filepath.string();
EXPECT_TRUE(client->wait_for_service(1s));
auto result = client->async_call(request);
EXPECT_EQ(
Expand All @@ -160,8 +165,9 @@ TEST(DatabaseTests, reloadDbService)

// Try again with a bogus file
auto request2 = std::make_shared<nav2_msgs::srv::ReloadDockDatabase::Request>();
request2->filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
"/file_does_not_exist.yaml";
ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
filepath = filepath / "file_does_not_exist.yaml";
request2->filepath = filepath.string();
EXPECT_TRUE(client->wait_for_service(1s));
auto result2 = client->async_call(request2);
EXPECT_EQ(
Expand Down Expand Up @@ -190,8 +196,10 @@ TEST(DatabaseTests, reloadDbMutexLocked)
node->create_client<nav2_msgs::srv::ReloadDockDatabase>("test/reload_database");

auto request = std::make_shared<nav2_msgs::srv::ReloadDockDatabase::Request>();
request->filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
"/dock_files/test_dock_file.yaml";
std::filesystem::path filepath;
ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
filepath = filepath / "dock_files" / "test_dock_file.yaml";
request->filepath = filepath.string();
EXPECT_TRUE(client->wait_for_service(1s));
auto result = client->async_call(request);
EXPECT_EQ(
Expand Down
1 change: 0 additions & 1 deletion nav2_docking/opennav_docking/test/test_navigator.cpp
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Expand Up @@ -18,7 +18,6 @@
#include "rclcpp/rclcpp.hpp"
#include "nav2_ros_common/simple_action_server.hpp"
#include "opennav_docking/navigator.hpp"
#include "ament_index_cpp/get_package_share_directory.hpp"

// Test navigator

Expand Down
1 change: 0 additions & 1 deletion nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
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Expand Up @@ -20,7 +20,6 @@
#include "sensor_msgs/msg/battery_state.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "opennav_docking/simple_charging_dock.hpp"
#include "ament_index_cpp/get_package_share_directory.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "tf2/utils.hpp"

Expand Down
1 change: 0 additions & 1 deletion nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
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Expand Up @@ -20,7 +20,6 @@
#include "sensor_msgs/msg/battery_state.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "opennav_docking/simple_non_charging_dock.hpp"
#include "ament_index_cpp/get_package_share_directory.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "tf2/utils.hpp"

Expand Down
34 changes: 19 additions & 15 deletions nav2_docking/opennav_docking/test/test_utils.cpp
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Expand Up @@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <filesystem>
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "opennav_docking/utils.hpp"
Expand Down Expand Up @@ -91,9 +92,10 @@ TEST(UtilsTests, parseDockFile)
{
auto node = std::make_shared<nav2::LifecycleNode>("test4");
DockMap db;
std::string filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
"/dock_files/test_dock_file.yaml";
EXPECT_TRUE(utils::parseDockFile(filepath, node, db));
std::filesystem::path filepath;
ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
filepath = filepath / "dock_files" / "test_dock_file.yaml";
EXPECT_TRUE(utils::parseDockFile(filepath.string(), node, db));
EXPECT_EQ(db.size(), 2u);
EXPECT_EQ(db["dock1"].frame, std::string("mapA"));
EXPECT_EQ(db["dock2"].frame, std::string("map"));
Expand All @@ -115,24 +117,26 @@ TEST(UtilsTests, parseDockFile2)
DockMap db;

// Test with a file that has no docks
std::string filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
"/dock_files/test_no_docks_file.yaml";
EXPECT_FALSE(utils::parseDockFile(filepath, node, db));
std::filesystem::path filepath;

ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
filepath = filepath / "dock_files" / "test_no_docks_file.yaml";
EXPECT_FALSE(utils::parseDockFile(filepath.string(), node, db));

// Test with a file that has no type
filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
"/dock_files/test_dock_no_type_file.yaml";
EXPECT_FALSE(utils::parseDockFile(filepath, node, db));
ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
filepath = filepath / "dock_files" / "test_dock_no_type_file.yaml";

EXPECT_FALSE(utils::parseDockFile(filepath.string(), node, db));

// Test with a file that has no pose
filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
"/dock_files/test_dock_no_pose_file.yaml";
EXPECT_FALSE(utils::parseDockFile(filepath, node, db));
ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
filepath = filepath / "dock_files" / "test_dock_no_pose_file.yaml";

// Test with a file that has wring pose array size
filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
"/dock_files/test_dock_bad_pose_file.yaml";
EXPECT_FALSE(utils::parseDockFile(filepath, node, db));
ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
filepath = filepath / "dock_files" / "test_dock_bad_pose_file.yaml";
EXPECT_FALSE(utils::parseDockFile(filepath.string(), node, db));
}

TEST(UtilsTests, testgetDockPoseStamped)
Expand Down
1 change: 0 additions & 1 deletion nav2_route/src/graph_loader.cpp
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Expand Up @@ -15,7 +15,6 @@
#include <memory>

#include "nav2_route/graph_loader.hpp"
#include "ament_index_cpp/get_package_share_directory.hpp"

namespace nav2_route
{
Expand Down
1 change: 0 additions & 1 deletion nav2_route/src/graph_saver.cpp
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Expand Up @@ -15,7 +15,6 @@
#include <memory>

#include "nav2_route/graph_saver.hpp"
#include "ament_index_cpp/get_package_share_directory.hpp"

namespace nav2_route
{
Expand Down
15 changes: 9 additions & 6 deletions nav2_route/test/test_geojson_graph_file_loader.cpp
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Expand Up @@ -13,6 +13,7 @@
// limitations under the License.

#include <gtest/gtest.h>
#include <filesystem>
#include <fstream>
#include <string>
#include <nlohmann/json.hpp>
Expand Down Expand Up @@ -348,13 +349,14 @@ TEST(GeoJsonGraphFileLoader, simple_graph)

TEST(GeoJsonGraphFileLoader, sample_graph)
{
auto file_path = ament_index_cpp::get_package_share_directory("nav2_route") +
"/graphs/sample_graph.geojson";
std::filesystem::path file_path;
ament_index_cpp::get_package_share_directory("nav2_route", file_path);
file_path = file_path / "graphs" / "sample_graph.geojson";

Graph graph;
GraphToIDMap graph_to_id_map;
GeoJsonGraphFileLoader graph_file_loader;
bool result = graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path);
bool result = graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path.string());
EXPECT_TRUE(result);

Metadata region;
Expand All @@ -379,10 +381,11 @@ TEST(GeoJsonGraphFileLoader, sample_graph)

TEST(GeoJsonGraphFileLoader, invalid_file)
{
auto file_path = ament_index_cpp::get_package_share_directory("nav2_route") +
"/test/test_graphs/invalid.json";
std::filesystem::path file_path;
ament_index_cpp::get_package_share_directory("nav2_route", file_path);
file_path = file_path / "test" / "test_graphs" / "invalid.json";
GeoJsonGraphFileLoader graph_file_loader;
Graph graph;
GraphToIDMap graph_to_id_map;
EXPECT_FALSE(graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path));
EXPECT_FALSE(graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path.string()));
}
12 changes: 7 additions & 5 deletions nav2_route/test/test_geojson_graph_file_saver.cpp
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Expand Up @@ -13,6 +13,7 @@
// limitations under the License.

#include <gtest/gtest.h>
#include <filesystem>
#include <fstream>
#include <string>
#include <nlohmann/json.hpp>
Expand Down Expand Up @@ -319,19 +320,20 @@ TEST(GeoJsonGraphFileSaver, simple_graph)

TEST(GeoJsonGraphFileSaver, sample_graph)
{
auto file_path = ament_index_cpp::get_package_share_directory("nav2_route") +
"/graphs/sample_graph.geojson";
std::filesystem::path file_path;
ament_index_cpp::get_package_share_directory("nav2_route", file_path);
file_path = file_path / "graphs" / "sample_graph.geojson";

Graph graph;
GraphToIDMap graph_to_id_map;
GeoJsonGraphFileLoader graph_file_loader;
graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path);
graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path.string());
GeoJsonGraphFileSaver graph_file_saver;
bool result = graph_file_saver.saveGraphToFile(graph, file_path);
bool result = graph_file_saver.saveGraphToFile(graph, file_path.string());
EXPECT_TRUE(result);
Graph graph2;
GraphToIDMap graph_to_id_map2;
graph_file_loader.loadGraphFromFile(graph2, graph_to_id_map2, file_path);
graph_file_loader.loadGraphFromFile(graph2, graph_to_id_map2, file_path.string());

Metadata region;
region = graph2[0].metadata.getValue("region", region);
Expand Down
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